Repair Manual New Holland Intellisteer™ Auto Steering System Troubleshooting

NEW HOLLAND REPAIR
MANUAL
IntelliSteer™
Auto Steering System
Troubleshooting
TG Series Tractors
TJ Series Tractors
SERVICE
87046843 3/04
TABLE OF CONTENTS
SYMPTOM BASED FAULTS - NO FAULT CODES ................................................................................................ 3

Can I utilize my DGPS Universal, DGPS 130, or DGPS EZ-Guide 110 Receiver with
Omnistar HP differential signal? .............................................................................................................................. 3
Low number of satellites when using RTK. ............................................................................................................. 4
RTK GPS users are having problems obtaining or maintaining an RTK Fix due to
inadequate satellite coverage in their location. ........................................................................................................ 6
RDL cannot read CompactFlash Data Card ............................................................................................................ 7
Losing Configuration Settings When the RDL is Powered Off. ............................................................................... 8
Trouble activating Omnistar VBS satellite differential subscriptions on Ag252 GPS Receiver. .............................. 9
Poor accuracy, non-repeatable pass to pass performance when using RTK ........................................................ 10
Poor GPS accuracy or swath performance with the Ag252 receiver. .................................................................... 11
Tracking Omnistar HP signal but not receiving an “OK” system status. Message
GPS Status “Wait – D7” (7 represents current number of Satellites). ................................................................... 12
Tracking Omnistar HP signal but not receiving an “OK” system status. Message
GPS Status “Wait – D7” (7 represents current number of Satellites). ................................................................... 13
WAAS DGPS shifts position after a period of time from startup. ........................................................................... 14
No GPS position output from the Ag252 receiver after connecting to Ag Remote v2.xx. ...................................... 15
Restore Ag252 Receiver factory settings .............................................................................................................. 16
Restore Ag252 Receiver factory settings .............................................................................................................. 17
Not tracking RTK corrections, Wait-A7 message (7 represents the number of satellites) ..................................... 18
Not tracking RTK corrections, Wait-A7 message (7 represents the number of satellites) ..................................... 19
Long time to initialize RTK ..................................................................................................................................... 20
Loss of RTK Initialization or RTK Float Status – “Wait-F6” Message
(6 represents the current number of satellites) ...................................................................................................... 21
Using WAAS to reduce error when setting up a RTK Base Station location. ........................................................ 22
LED sequences for WAAS or Omnistar VBS differential positioning. .................................................................... 23
LED sequences for Omnistar HP differential positioning. ...................................................................................... 24
LED sequences for RTK positioning. ..................................................................................................................... 25
Vehicle Confusion in Swath Orientation ................................................................................................................ 26
Steering seems erratic or confused. ...................................................................................................................... 27
Vehicle continues in Auto Mode, but drifts offline. ................................................................................................. 28
Front wheel drift, hard steering, vehicle fails to come online when in autoguidance, initial installation setup. ...... 29
Solid Green LED on the Ag252 receiver, but no GPS Info on the Display – GPS Status None ............................ 30
Controller Guidance System Fault Code 1 “FE Send Message” ........................................................................... 31
Controller Guidance System Fault Code 2 “FE Task Init.” .................................................................................... 32
Controller Guidance System Fault Code 3 “FE Go Trap” ...................................................................................... 33
Controller Guidance System Fault Code 4 “A/D Scan Timeout” ........................................................................... 34
Controller Guidance System Fault Code 5 “A/D Scan Overrun” ........................................................................... 35
Controller Guidance System Fault Code 6 “A/D Data Not Ready” ........................................................................ 36
Controller Guidance System Fault Code 7 “A/D Chan Overrun” ........................................................................... 37
Controller Guidance System Fault Code 8 “Vpp Jumpered” ................................................................................. 38
Controller Guidance System Fault Code 9 “Battery Bad” ...................................................................................... 39
Controller Guidance System Fault Code 11 “SP Open Failed” ............................................................................. 40
Controller Guidance System Fault Code 12 “Matrix Inv. Failed” ........................................................................... 41
Controller Guidance System Fault Code 13 “MATHERR Exception” .................................................................... 42
Controller Guidance System Fault Code 14 “MATHERRF Exception” .................................................................. 43
Controller Guidance System Fault Code 15 “Fatal Error Reboot” ......................................................................... 44
1
Controller Guidance System Fault Code 16 “App Undefined ISR” ........................................................................ 45
Controller Guidance System Fault Code 17 “TPU Undefined ISR” ....................................................................... 46
Controller Guidance System Fault Code 18 “MIOS1 Undefined ISR” ................................................................... 47
Controller Guidance System Fault Code 19“QADC Undefined ISR” ..................................................................... 48
Controller Guidance System Fault Code 21 “Uninit. App Assert” .......................................................................... 49
Controller guidance System Fault Code 22 “Acc X Overvoltage” .......................................................................... 50
Controller Guidance System Fault Code 23 “Acc X Undervoltage” ....................................................................... 51
Controller Guidance System Fault Code 24 “Acc Y Overvoltage” ......................................................................... 52
Controller Guidance System Fault Code 25 “Acc Y Undervoltage” ....................................................................... 53
Controller Guidance System Fault Code 26 “Acc Z Overvoltage” ......................................................................... 54
Controller Guidance System Fault Code 27 “Acc Z Undervoltage” ....................................................................... 55
Controller Guidance System Fault Code 28 “Gyro X Overvoltage” ....................................................................... 56
Controller Guidance System Fault Code 29 “Gyro X Undervoltage” ..................................................................... 57
Controller Guidance System Fault Code 30 “Gyro Y Overvoltage” ....................................................................... 58
Controller Guidance System Fault Code 31 “Gyro Y Undervoltage” ..................................................................... 59
Controller Guidance System Fault Code 32 “Gyro Z Overvoltage” ....................................................................... 60
Controller Guidance System Fault Code 33 “Gyro Z Undervoltage” ..................................................................... 61
Controller Guidance System Fault Code 34 “Heater Overvoltage” ....................................................................... 62
Controller Guidance System Fault Code 35 “Heater Undervoltage” ..................................................................... 63
Controller Guidance System Fault Code 36 “VRef Overvoltage” .......................................................................... 64
Controller Guidance System Fault Code 37 “VRef Undervoltage” ....................................................................... 65
Controller Guidance System Fault Code 39 “Steering Overvolt” ........................................................................... 66
Controller Guidance System Fault Code 40 “Steering Overvolt” ........................................................................... 67
Controller Guidance System Fault Code 40 “Steering Undervolt” ......................................................................... 68
Controller Guidance System Fault Code 40 “Steering Undervolt” ........................................................................ 69
Controller Guidance System Fault Code 41 “Man Ovrd Overvolt” ....................................................................... 70
Controller Guidance System Fault Code 42 “Man Ovrd Undervolt” ...................................................................... 71
Controller Guidance System Fault Code 43 “Gear Lev Overvolt” ......................................................................... 72
Controller Guidance System Fault Code 44 “Gear Lev Undervolt” ....................................................................... 73
Controller Guidance System Fault Code 46 “Valve Coil Short” ............................................................................. 74
Controller Guidance System Fault Code 47 “Valve Coil Imax” .............................................................................. 75
Controller Guidance System Fault Code 48 “MOSFET Short” .............................................................................. 76
Controller Guidance System Fault Code 49 “Coil Short to GND” .......................................................................... 77
Controller Guidance System Fault Code 50 “Coil Shorted” ................................................................................... 78
Controller Guidance System Fault Code 54 “SafeMCU Prog. Error” .................................................................... 79
Controller Guidance System Fault Code 55 “SafeMCU No Stack” ....................................................................... 80
Controller Guidance System Fault Code 56 “SafeMCU Msg Timeout” ................................................................. 81
Controller Guidance System Fault Code 58 “Angle Out of Bounds” ..................................................................... 82
Controller Guidance System Fault Code 58 “Steering Unsafe” ............................................................................. 83
Controller Guidance System Fault Code 59 “MCU2 Vel. Unsafe” ......................................................................... 84
Controller Guidance System Fault Code 70 “Test Build Expired” ......................................................................... 85
Controller Guidance System Fault Code 71 “Top FET Sense Err” ........................................................................ 86
Controller Guidance System Fault Code 76 “VT Assert Failure” ........................................................................... 87
Controller Guidance System Fault Code 77 “VT Object Pool Buffer Overflow” ..................................................... 88
Controller Guidance System Fault Code 78 “VT Comms Error” ............................................................................ 89
Controller Guidance System Fault Code 79 “VT Watchdog Timeout” ................................................................... 90
Controller Guidance System Fault Code 80 “PP Task Assert Failure” .................................................................. 91
Controller Guidance System Fault Code 81 “CAN-VT Assert Failure” .................................................................. 92
Controller Guidance System Fault Code 81 “CN Task Assert Failure” ................................................................. 93
2
SYMPTOM BASED FAULTS - NO FAULT CODES
Can I utilize my DGPS Universal, DGPS 130, or DGPS EZ-Guide 110 Receiver
with Omnistar HP differential signal?
CAUSE
No, Omnistar HP requires a L1/L2 GPS Receiver.
EXPLANATION
Omnistar HP real-time differential solution requires a L1/L2 carrier phase GPS receiver. The Ag252 is the only
receiver that can utilize the Omnistar HP signal. The other receivers are L1 only receivers. These are sub-meter
quality receivers. Best expected pass-to-pass performance when utilizing WAAS & Omnistar VBS is around 10
inches for both autoguidance and manual guidance systems. Pass-to-pass accuracy is based on a 15-minute time
frame.
Expected pass-to-pass accuracy when utilizing Omnistar HP is within 4 inches.
3
Low number of satellites when using RTK.
Ag252 Receiver Guidance
Cause
Poor constellation of available satellites. Use the Planning Software to help manage poor operating times. How to
use Planning Software.
SOLUTION
The Planning Software is an advanced software tool for analyzing satellite visibility based on almanac data. This
powerful, stand-alone utility supports any form of visibility analysis for GPS satellites. Use Planning software to
maximize your efficiency and monitor your work. Planning software can answer questions, such as:
1. When is the PDOP for a location less than x, and when are more than y satellites visible?
2. I want to run x base stations/tractors simultaneously. When do I have the best conditions for all of them?
3. I want to work during a given time span. How many satellites will be visible?
4. My location is partially obstructed by buildings or trees. Can I still expect good results?
5. Can I automate creating a visibility report for each day of the year?
STEP 1 Downloading the software

A. Go to the Trimble website, www.trimble.com/planningsoftware_ts.asp?Nav=Collection-8425.
B. Click the Planning Software link.
NOTE: The software is 22 MB in size and will take some time to download.
C. Select the option to save the file to your computer.
D. Select a folder to save the file to, then click Save.
STEP 2 Installing the software

A. Go to the folder you selected in Step 4 above, then double click the file SetupPlanning.exe.
B. Select the language for installation, then follow the prompts.
C. Once the software is installed, click Finish.
D. Restart the computer.
STEP 3 Downloading an ephemeris file

A. An ephemeris file tells the Planning software where the satellites will be on a given day. It is recommended
that you download a current ephemeris file at least once a week. The file must be less then 30 days old for
the Planning software to use it. Trimble updates the ephemeris file on the website at least once a day.
STEP 4 To download a current ephemeris:

A. Go to the Trimble website (www.trimble.com/gpsdataresources.html), then click the Current Ephemeris
Data link.
B. Select the option to save the file to your computer.
C. Save the file (Current.ssf) to the folder C:\My Documents.
4
STEP 5 Using the Planning software
A. Use the Planning software to plan your field sessions.
B. Click Start / Program / Trimble Office / Utilities / Planning. The Planning software starts.
C. From the Almanac menu, select Clear.
D. This clears the Almanac file to ensure you that are looking at the most current GPS satellites in the
constellation when you import the SSF file in the next step.
E. From the Almanac menu, select Import / SSF. The SSF Files dialog appears.
F. Import the ephemeris file you just downloaded. By default, the dialog opens in the folder C:\My
Documents.
G. Select the Current.ssf file, then click Open.
H. A message appears telling you that the Current.ssf file was successfully imported. Click OK to accept it.
STEP 6 In the Satellite Systems toolbar, clear the GLONASS and WAAS check boxes. (Trimble
Agriculture receivers do not support GLONASS.)
STEP 7 Set up a station or reference location:

A. Select File / Station. The following dialog appears: Enter the following:?
B. Your position (or select a city)
C. Your elevation cutoff (Set it to the elevation mask you are using in both the base and tractor receiver. The
default in the RTK receivers is 13 degrees)
D. The time and your time zone (so that the graphs will be accurate for your location)
NOTE: The city you select should be within 30 miles (48KM) of your location. If the list of cities does not contain a
city within close proximity to your location, you should enter a name and the position of your base station. The
Planning software will save the name and position to the drop-down list of station names.
E. Click Apply, then click OK to save your changes.
F. From the Graphs menu, then select an appropriate graph to view. Use the Number of Satellites and DOP-
Position graphs to determine the best time to work.
The minimum number of satellites for working is four. However, you need five satellites to initiate the GPS RTK fix.
Trimble recommends that you work with a minimum of five satellites. If you are in an area (field) that has tree lines,
you will want to look for periods of the day that have more than five satellites to account for satellites that will be lost
when the trees block the satellite signal. The GPS receiver you are using has a PDOP mask of 7. Therefore, look
for values below 7 when determining working times.
STEP 8 For more information on using the Planning software, select Help / Help Topics.
5
RTK GPS users are having problems obtaining or maintaining an RTK Fix
due to inadequate satellite coverage in their location.
Cause
A constellation change, a Satellite Vehicle (SV) out of service, and SVs low on the horizon being masked by natural
or man-made structures can cause the number of satellites to drop below the required number for initializing or
maintaining a fix.
EXPLANATION
Information on the causes of the low numbers of available satellites and provides instructions on how to plan your
fieldwork around the time of day when adequate satellite coverage is available.
Users cannot obtain or maintain an RTK fix due to inadequate satellite coverage. To initialize an RTK fix, five
satellites are required. To maintain the RTK fix, four satellites in common are required.
By default, RTK gps receivers have an elevation mask of 13. You can drop the elevation mask of the Base Station
and Ag252 tractor gps receivers to 10 degrees for periods of minimal number of satellites without any noticeable
change in accuracy. In some cases, dropping the elevation mask on both gps receivers just reduces the outage
time and does not eliminate it. Where possible, plan you fieldwork around adequate satellite coverage using the
Planning software.
6
RDL cannot read CompactFlash Data Card
Remote Data Logger
Cause
The RDL may not be able to open or read CompactFlash data cards that have been formatted on computers
running the Microsoft Windows 2000 or XP operating system.
Solution
Reformat the CompactFlash data card. Then copy all required files to the card in one operation to ensure that files
are stored contiguously.
The RDL may not recognize the basic format of the CompactFlash data card, for example, the number of sectors
per track.
The RDL may not find all the required files on the CompactFlash data card if the entries in the file directory are not
contiguous. For example, files may have been added to or deleted from a CompactFlash data card at different
times. This results in the files being stored in several different areas on the card. Even though this storage method
is legitimate, the RDL reads only the first group of files that it finds. The best solution is to reformat the
CompactFlash data card. Then copy all required files to the card in one operation to ensure that files are stored
contiguously.
7
Losing Configuration Settings When the RDL is Powered Off.
Remote Data Logger
Cause
The RDL’s configuration parameter settings are stored in battery-backed RAM (random access memory). The 9 volt
battery has approximately a 1-year life span. Dead battery.
Solution
Replace 9v battery.
The Remote Data Logger’s configuration parameter settings are stored in battery-backed RAM (random access
memory). The 9 volt battery has approximately a 1-year life span. You can assume the alkaline battery has failed
when the data logger no longer retains configuration parameter setting changes. A multi meter can be used to
check the battery’s DC voltage level.The data logger can continue to use the default configuration parameters, but
does not retain any changes to the default settings after it is powered off.
8
Trouble activating Omnistar VBS satellite differential subscriptions on
Ag252 GPS Receiver.
Cause
Ag252 gps receiver can utilize both Omnistar VBS & Omnistar HP subscriptions.
Solution
When you request the activation code, make sure that you tell Omnistar that the Ag252 receiver is Omnistar HP
capable.
When you request an over the air activation code for your Ag252 receiver, you must tell them that the receiver is HP
capable. Otherwise, you may have difficulty when you try to activate the Omnistar VBS subscription.
9
Poor accuracy, non-repeatable pass to pass performance when using RTK
Ag252 Receiver Guidance, Base Station RTK Receiver, RTK Base Station
Cause
Accuracy is relative to the initial base station location. If an operator does not set the base station in the same,
identical location – Do not expect repeatable performance day to day or year to year.
Solution
See Base Station Operator Manual for the correct procedures. Write down and store the initial latitude, longitude,
and antenna height coordinates for your base location.
10
Poor GPS accuracy or swath performance with the Ag252 receiver.
Cause
The accuracy of gps positions is poor because the receiver is picking up poor quality signals from the satellites.
Solution
Adjust the Ag252 Receiver to look at higher quality GPS signals for better positional accuracy.
The Ag252 receiver always calculates the most accurate position it can given the current GPS satellite
constellation & differential source or strength of RTK CMR messages. To increase the positional accuracy of the
Ag252 receiver, use the following steps to adjust the receiver.
STEP 1 Use the Electronic Service Tool to access the Ag Remote v2.xx software.
A. Go to Configuration – Select Config GPS.
B. Increase minimum elevation - Increase the setting (the default is 8). However if you increase the elevation
filter, less satellites are available for viewing.
C. Minimum Signal Strength – Increase the system mask AMU setting (the default is 3).
D. Maximum PDOP – Decrease the setting (the default is 13).
11
Tracking Omnistar HP signal but not receiving an “OK” system status.
Message GPS Status “Wait – D7” (7 represents current number of
Satellites).
Ag252 Receiver Guidance, Omnistar HP Differential Signal
Cause
Ag252 Receiver still calculating a high accuracy solution. Let the receiver calculate a differential position.
Explanation
Omnistar HP differential solution is a software-derived solution based upon an ionospheric model acquired through
the Omnistar HP signal. It utilizes a sophisticated L1/L2 type GPS receiver (i.e. Ag252 receiver) to adjust for timing
delays between the L1 (1575 mhz) & L2 (1227 mhz) carrier phase GPS signals. The process of calculating an
accurate position is called convergence. Typical startup times range from 20-40 minutes. The system does not
need to be sitting still during convergence – the vehicle can be in movement at transport speeds. The receiver must
be outside with a clear view of the sky to track the Omnistar satellite.
Omnistar HP signal is also dependent on line of sight with the sky. Heavy tree lines or building sites can affect the
strength and quality of signal. If you have location loss-of-signal problems with Omnistar VBS, you will probably
have similar issues with HP.
12
Tracking Omnistar HP signal but not receiving an “OK” system status.
Message GPS Status “Wait – D7” (7 represents current number of
Satellites).
Ag252 Receiver Guidance, Omnistar HP Differential Signal
Cause
Ag252 Receiver still calculating a high accuracy solution. Let the receiver calculate a differential position.
Explanation
Omnistar HP differential solution is a software-derived solution based upon an ionospheric model acquired through
the Omnistar HP signal. It utilizes a sophisticated L1/L2 type GPS receiver (i.e. Ag252 receiver) to adjust for timing
delays between the L1 (1575 mhz) & L2 (1227 mhz) carrier phase GPS signals. The process of calculating an
accurate position is called convergence. Typical startup times range from 20-40 minutes. The system does not
need to be sitting still during convergence – the vehicle can be in movement at transport speeds. The receiver must
be outside with a clear view of the sky to track the Omnistar satellite.
Omnistar HP signal is also dependent on line of sight with the sky. Heavy tree lines or building sites can affect the
strength and quality of signal. If you have location loss-of-signal problems with Omnistar VBS, you will probably
have similar issues with HP.
13
WAAS DGPS shifts position after a period of time from startup.
Ag252 Receiver Guidance, WAAS
Cause
The WAAS differential signal needs time to correct for ionosphere model error. Let the receiver calculate a WAAS
DGPS position.
Explanation
The WAAS differential signal needs time to correct for ionosphere model error. The real-time calculated position
can shift after the Ag252 receiver receives an updated ionospheric message through the WAAS differential source.
Usually the system will automatically adjust within 20-30 minutes. Autoguidance may be affected if you immediately
start. The shift can range from a few inches to a couple of feet. GPS receivers using WAAS for yield monitors and
field mapping are not as severely affected due to accuracy needs.
14
No GPS position output from the Ag252 receiver after connecting to Ag
Remote v2.xx.
Ag252 Receiver Guidance, Ag Remote v2.xx Software
Cause
The Ag Remote v2.xx software can change receiver communication settings. Use the Ag Remote Software to
adjust the Ag252 receiver settings to allow proper communication with the guidance controller.
Explanation
Utilize the Electronic Service Tool to access the Ag Remote v2.xx software to adjust the receiver communication
settings. When the Ag252 receiver is connected to the Ag Remote software, Ag Remote automatically resets the
Port A (left connection from back) communication setting on the receiver to TSIP 8-o-1 at 115,000-baud rate for
both input and output.
This enables optimal communication with an office computer or laptop. If the Ag252 receiver is to work with the
autoguidance system, the receiver port communication settings on Port A must be TSIP 38.4K 8-n-1. If the Ag252
receiver is utilizing RTK, Port B must be set for RTKLNK 38.4K 8-n-1. If Ag Remote software has changed the
settings, you will need to change them back manually before closing Ag Remote.
15
Restore Ag252 Receiver factory settings
Cause
Restore Ag252 Receiver factory settings.
Explanation
How to restore Ag252 Receiver to factory default settings.
settings. When the Ag252 receiver is connected to the GPS FlashLoader200, the Flashloader200 software utility
automatically resets the Port A (left connection from back) communication setting on the receiver to TSIP 8-o-1 at
115,000-baud rate for both input and output. This enables optimal communication with an office computer or
laptop.
Once you have connected to the receiver:

A. Select File pull down menu.
B. Select CLEAR BB RAM.
C. The factory default settings are now restored.
If the Ag252 receiver is to work with the autogiudance system, the receiver port communication settings on Port A
must be TSIP 38.4K 8-n-1. If the Ag252 receiver is utilizing RTK, Port B must be set for RTKLNK 38.4K 8-n-1. If Ag
Remote software has changed the settings, you will need to change them back manually before closing Ag
Remote.
16
Restore Ag252 Receiver factory settings
Cause
Restore Ag252 Receiver factory settings.
Explanation
How to restore Ag252 Receiver to factory default settings.
settings. When the Ag252 receiver is connected to the GPS FlashLoader200, the Flashloader200 software utility
automatically resets the Port A (left connection from back) communication setting on the receiver to TSIP 8-o-1 at
115,000-baud rate for both input and output. This enables optimal communication with an office computer or
laptop.
Once you have connected to the receiver:

A. Select File pull down menu.
B. Select CLEAR BB RAM.
C. The factory default settings are now restored.
If the Ag252 receiver is to work with the autogiudance system, the receiver port communication settings on Port A
must be TSIP 38.4K 8-n-1. If the Ag252 receiver is utilizing RTK, Port B must be set for RTKLNK 38.4K 8-n-1. If Ag
Remote software has changed the settings, you will need to change them back manually before closing Ag
Remote.
17
Not tracking RTK corrections, Wait-A7 message (7 represents the number of
satellites)
Ag252 Receiver Guidance, RTK Radio, Commset SoftwareCause

The RTK radio link is either down or intermittent.
Explanation
How to determine if RTK radio link is operational.
A. Check the status LED’s on the bottom of both the base & tractor RTK radios.
B. Orange Light indicated power.
C. Orange & Green lights indicates power plus RTK Link with base.
NOTE: Flashing lights only happens when the RTK radio is connected to the Commset Software.
D. Ensure that the line-of-sight between the base and tractor RTK radio is not obstructed. If possible increase
the height of the base RTK radio antenna.
E. Longer Coax radio antenna cables are available through Parts. 150 feet is the maximum antenna cable
length.
18
Not tracking RTK corrections, Wait-A7 message (7 represents the number of
satellites)
Ag252 Receiver Guidance, RTK Radio, Commset Software
Cause
The RTK radio link is either down or intermittent.
Explanation
1. How to determine if RTK radio link is operational.
A. Check the status LED’s on the bottom of both the base & tractor RTK radios.
B. Orange Light indicated power.
C. Orange & Green lights indicates power plus RTK Link with base.
NOTE: Flashing lights only happens when the RTK radio is connected to the Commset Software.
D. Ensure that the line-of-sight between the base and tractor RTK radio is not obstructed. If possible increase
the height of the base RTK radio antenna. Longer Coax radio antenna cables are available through CNH
Parts.
E. Ensure that the vehicle radio is within range of the base radio. Move vehicle closer to the base to
determine if you can establish a radio link.
2. Check the Network ID of both the base & tractor RTK radios. You can change the tractor radio Network ID
through the Display. A person can change the base radio Network ID through utilizing Commset software.
3. Consider using an additional RTK radio for a repeater. Repeater radios can help fill in low signal areas that are
either blocked by terrain or trees. Repeater radios are not designed to extend range from the base. Lower
accuracy is the result from time, distance, and signal latency. Repeater radios are exactly the same as either a
base or tractor radio. You must use Commset to configure the radio as a repeater.
4. RTK radios are setup as a tractor radio from the factory. Make sure that the base station is using a radio
configured as a Base. Utilize Commset to make the setting adjustment.
19
Long time to initialize RTK
RTK Radio, Base Station Receiver, Ag252 Receiver
Cause
In RTK mode, longer baselines require longer initialization times. The baseline is the distance between the base
and tractor.
Explanation
Reposition vehicle closer to the base. In RTK mode, longer baselines require longer initialization times. The
baseline is the distance between the base and tractor. A person may wait for the tractor to initialize (establish a
RTK Fix or “OK” GPS status message). Make sure the tractor is in a clear area.
20
Loss of RTK Initialization or RTK Float Status – “Wait-F6” message (6
represents the current number of satellites)
RTK Radio, Base Station Receiver, Ag252 Receiver
Cause
In RTK mode, initialization can be lost when the tractor receiver is close to trees, hilly terrain, or buildings and the
number of satellites falls below four. Reposition vehicle in an open area to reestablish RTK Fix Status.
Explanation
In RTK mode, initialization can be lost when the tractor receiver is close to trees, hilly terrain, or buildings and the
number of satellites falls below four. RTK gps operation requires 4 satellites in common between the base and
tractor. During the initialization phase, RTK requires 5 satellites in view. Both the base and tractor might display 5 or
6 satellites, but they might have less than 4 satellites in common for a short period of time. When this happens, you
will lose high positional accuracy and the system will go into a “Wait –Fx” (x being the number of satellites in view).
Move away from trees and obstructions to initialize. Once initialized, approach the obstructed area again. If the
obstructions are severe, GPS positioning may not work in that area. Because the GPS satellites move, there may
be times of the day when you are working in an area with obstructions that may cause a RTK Float message.
When in doubt check the Planning Software. A person can determine periods of time when the satellite
constellation might have low number of viewable satellites.
21
Using WAAS to reduce error when setting up a RTK Base Station location.
Base Station Receiver
Cause
RTK GPS is very precise, but mapping accuracy is relative to the base location. By utilizing autonomous gps only,
a base location coordinates can have 30-50 feet of error.
Explanation
Using WAAS to reduce positional error when setting up a RTK Base Station location.
Autonomous GPS can have roughly 30-50 feet of error. By averaging autonomous GPS positions for 60 seconds, a
person can reduce the error. However for mapping & GIS software needs, you can utilize WAAS differential and
reduce the potential location error when mapping data. RTK GPS is very precise, but mapping accuracy is relative
to the base location.
1. On the Base Station receiver, you can configure the receiver in utilize WAAS differential correction when it is
not calculating and sending CMR RTK messages.
2. Go to Config GPS, Set WAAS Auto. However it is best to turn WAAS off when not needed. The Base Station
has a 9-channel gps receiver. By utilizing WAAS, you limit the receiver to 8 available satellite channels. This
can reduce the overall accuracy of the RTK system.
For Geodetic correct quality, a user can utilize a survey reference point to develop a high positional accuracy. For
water management and grade control systems, survey correct antenna height is important.
22
LED sequences for WAAS or Omnistar VBS differential positioning.
Cause
Explanation
The Ag252 receiver has a LED light that shows the status of the receiver. The light is located on the back edge
between the two cable connectors. This makes it very easy to determine what is happening with the receiver.

1. Off - No power
2. Solid Green - Normal operation: computing DGPS positions.
3. Slow Green Flash - No DGPS corrections: computing DGPS positions using old corrections.
4. Fast Green Flash - No DGPS corrections approaching DGPS age limit: computing DGPS positions using old
corrections.
5. Solid Yellow – DGPS corrections being received but DGPS positions not yet being computed: computing
autonomous GPS positions.
6. Slow Yellow Flash - No DGPS corrections: computing autonomous GPS positions.
7. Fast Yellow Flash - Not enough GPS signals: not tracking enough satellites to compute position.
23
LED sequences for Omnistar HP differential positioning.
Cause
Explanation

1. Off - No power
2. Solid Green - Normal operation: computing converged Omnistar HP positions.
3. Slow Green Flash - Receiving Omnistar HP corrections, but only able to compute unconverged position.
4. Fast Green Flash - Receiving Omnistar HP corrections, but a HP error occurred.
5. Solid Yellow - Receiving Omnistar HP corrections but unable to calculate a position: computing DGPS or
autonomous solution.
6. Slow Yellow Flash - No Omnistar HP corrections: computing DGPS or autonomous position.
7. Fast Yellow Flash - Not tracking Omnistar HP corrections: no positions.
24
LED sequences for RTK positioning.
Cause
Explanation

1. Off - No power
2. Solid Green - Normal operation: computing fixed RTK positions.
3. Slow Green Flash - Receiving CMR corrections but not initialized: computing float RTK positions.
4. Fast Green Flash - No CMR corrections: computing RTK position using old corrections.
5. Solid Yellow - Receiving CMR corrections but unable to calculate RTK position: computing DGPS (if WAAS/
EGNOS is unavailable) or autonomous position.
6. Slow Yellow Flash - No CMR corrections: computing DGPS or autonomous position.
7. Fast Yellow Flash - Not receiving CMR corrections: not computing positions.
25
Vehicle Confusion in Swath Orientation
Controller Guidance
Cause
Controller has developed a heading error.
Explanation
Vehicle confusion in swath orientation. Controller develops a heading error that is off by either 90 or 180 degrees.
Causes vehicle to steer erratic. Possible causes of the controller disorientation include:
- Rapid directional changes.
- Rolling forward when in reverse gear.
- Rolling backwards when in a forward gear.
Solution: Drive 6-8 mph for about 100 yards in manual mode to reset controller gyros. Then try to engage
autoguidance.
26
Steering seems erratic or confused.
Controller Guidance
Cause
Steering seems erratic or confused. Recalibrate the steering sensor.
Explanation
Recalibrate the steering sensor by performing the following steps.
1. On the Display, make sure you are at the main screen, and in manual mode.
2. Press Setup
3. Select Vehicle
4. Now choose Edit Vehicle
5. Select Steer Sensor, steer full Left
6. Press Next, steer full Right, press next
7. Steer wheels so they point straight forward, press Next
8. Select OK.
27
Vehicle continues in Auto Mode, but drifts offline.
Controller Guidance
Cause
Lost communication with vehicle speed from transmission speed sensor. Consult tractor service manual about
transmission speed sensor adjustment.
Explanation
Lost communication with vehicle speed from transmission speed sensor. Consult tractor service manual about
transmission speed sensor adjustment or operational condition. Also check the wire harness and connections.
Likely no fault codes will appear due to the sporadic transmission sensor readings.
28
Front wheel drift, hard steering, vehicle fails to come online when in
autoguidance, initial installation setup.
Steering Valve, Hydraulics
Cause
Steering Valve might not be installed correctly. Consult the installation manual for proper steering valve hydraulic
connections.
Solution
1. Steering Valve installed incorrectly – verify hydraulic installation diagrams. Pressure and Tank connections can
easily be switched which can cause erratic steering response. Hard steering and wheel drift can be a few
symptoms.
2. Might need to reverse steering coil cable connections.
CAUTION: Be very careful during this test, wheels will rapidly move side-to-side.
3. To verify proper installation – from the main menu on the Display:

A. Select Setup
B. Select Vehicle
C. Choose Edit Vehicle
D. Now Choose Steer Gain (P-Gain). Be very careful during this test, wheels will rapidly move side-to-side.
4. Press Steer Left, Press Steer Right – Observe wheel action – switch steering valve coil cable connections if
needed – repeat test.
29
Solid Green LED on the Ag252 receiver, but no GPS Info on the Display –
GPS Status None
Ag252 Receiver, Controller Guidance
Cause
Improper receiver settings will not allow communication with the Guidance Controller. Utilize Ag Remote v2.xx
software to configure receiver.
Solution
1. Utilize the Electronic Service Tool to access the Ag Remote v2.xx Software.
2. Connect directly to the Ag252 receiver via Port A (Left connector) using a # 50166 serial power/data cable. The
cable must be connected to 12-volt power source.
3. Open Ag Remote, Choose File pull-down menu, Select Connect, Check AutoPort Configuration box, Press Ok.
4. Go to Config by using the right arrow >
5. Config Port A, change settings to TSIP 38.4K 8-n-1, You will loose connection.
6. Restart Ag Remote software.
7. Now uncheck AutoPort Configuration box – Change Baud Rate to 38400 and Parity to None, Press OK.
8. Now verify Port A Configuration, TSIP 38.4K 8-n-1
9. Now Select File pull-down menu, choose Disconnect.
10. Connect the guidance connection to Port A, Check the display for GPS Status.
30
Controller Guidance System Fault Code 1 “FE Send Message”
Cause
A critical autoguidance system fault has occurred. The fault condition must be explicitly cleared to resume
autoguidance operation.
Possible failure modes:

The display has a system status bar on the bottom center of the main screen. If the system is operational, a
person should see a message “System Ready”. If the system is not working correctly due to a controller system
fault, a “System Fault Detected” message should appear.
This is an operating system fault. It occurs when the inter-task message queue becomes filled for a specific task.
This can happen primarily through excessive throughput loading on the processor, or through a firmware defect.
NOTE: If this is a very intermittent problem, use the display to clear the controller fault and continue to operate.
STEP 1 Clear the fault code.

A. On the display check the fault detail screen.
B. From the main menu, select INFO and then select FAULTS.
C. Record the fault code. Now select CLEAR FAULT.
STEP 2 Check version of controller firmware.

A. On the display check the software version screen.
B. From the main menu, select INFO and then select VERSION.
C. Review the application version and date.
D. If the Fault Code is a continuous problem, contact technical support.
31
Controller Guidance System Fault Code 2 “FE Task Init.”
Cause
A critical autoguidance system fault has occurred. The fault condition must be explicitly cleared to
resume autoguidance operation.

The display has a system status bar on the bottom center of the main screen. If the system
is operational, a person should see a message “System Ready”. If the system is not working
correctly due to a controller system fault, a “System Fault Detected” message should
appear.
This is an operating system fault. It occurs when task initialization fails for a specific task.


32
Controller Guidance System Fault Code 3 “FE Go Trap”
Cause
The display has a system status bar on the bottom center of the main screen. If the system
is operational, a person should see a message “System Ready”. If the system is not working
correctly due to a controller system fault, a “System Fault Detected” message should
appear.
This is an operating system fault. It occurs when the operating system startup fails. This can happen primarily
through excessive throughput loading on the processor, or through a firmware defect.


33
Controller Guidance System Fault Code 4 “A/D Scan Timeout”
Cause
The display has a system status bar on the bottom center of the main screen. If the system is operational, a person
should see a message “System Ready”. If the system is not working correctly due to a controller system fault, a
“System Fault Detected” message should appear.
This is an operating system fault due to data sampling task failure. It occurs when the high precision ADC scan
(used to sample IMU) fails to complete on time.


34
Controller Guidance System Fault Code 5 “A/D Scan Overrun”
Cause
This is an operating system fault due to data sampling task failure. It occurs when the prior high precision ADC
scan fails to complete before the next one begins.


35
Controller Guidance System Fault Code 6 “A/D Data Not Ready”
Cause

This is an operating system fault due to data sampling task failure. It occurs when some portion of the data
acquisition sequence fails to complete on time.


36
Controller Guidance System Fault Code 7 “A/D Chan Overrun”
Cause

This is an operating system fault due to data sampling task failure. It occurs when a high precision ADC interrupt
occurs after all channels have been scanned.


37
Controller Guidance System Fault Code 8 “Vpp Jumpered”
Cause
This is an internal flash programming error during assembly.

This error occurs when the internal flash programming voltage jumper is detected as being attached. This jumper
should only be applied during the programming of the boot-monitor. This is a manufacturing error during assembly.
The autoguidance display has a system status bar on the bottom center of the main screen. If the system is
operational, a person should see a message “System Ready”. If the system is not working correctly due to a
controller system fault, a “System Fault Detected” message should appear. Try clearing the fault code by
performing the following steps:

A. On the Virtual Terminal check the fault detail screen.
C. Record the fault code. Now select CLEAR FAULT
D. If Fault Code # 8 “Vpp Jumpered” reappears, contact technical support.
38
Controller Guidance System Fault Code 9 “Battery Bad”
Cause
This error occurs when the internal NVRAM backup battery status indicates a low voltage.
If this is a very intermittent problem, use the display to clear the controller fault and continue to operate.


STEP 3
A. If the Fault Code is a continuous problem, contact technical support. This indicates possible controller
hardware failure. Replace controller.
39
Controller Guidance System Fault Code 11 “SP Open Failed”
Cause
A critical autoguidance system fault has occurred. This error occurs when a serial port initialization fails. The fault
condition must be cleared to resume autoguidance operation.

This error occurs when a serial port initialization fails.


D. Update controller guidance firmware to latest revision if available.
E. If the Fault Code is a continuous problem, contact technical support.
40
Controller Guidance System Fault Code # 12 “Matrix Inv. Failed”
Cause
A critical autoguidance system fault has occurred. This is an operating system error. The fault condition must be
explicitly cleared to resume autoguidance operation.

Fault Code # 12 “Matrix Inv. Failed” is a math library failure. It occurs when a matrix inversion attempt fails.


D. Update firmware to latest revision if available
41
Controller Guidance System Fault Code 13 “MATHERR Exception”
Cause

Fault Code # 13 “MATHERR Exception” is a math library failure. It occurs when a double precision floating point
operation or function fails.


42
Controller Guidance System Fault Code 14 “MATHERRF Exception”
Cause

Fault Code # 14 “MATHERRF Exception” is a math library failure. It occurs when a single precision floating point
operation or function fails.


43
Controller Guidance System Fault Code 15 “Fatal Error Reboot”
Cause
A critical autoguidance system fault has occurred. This error occurs when the controller suffers a fatal error and
performs a reboot.

This error occurs when the controller suffers a fatal error and performs a reboot. A classic example is a brief
interruption of electrical power to the controller.


44
Controller Guidance System Fault Code 16 “App Undefined ISR”
Cause
A critical autoguidance system fault has occurred. This error occurs when an uninitialized CPU interrupt is
detected. The fault condition must be cleared to resume autoguidance operation.

This error occurs when an uninitialized CPU interrupt is detected.


45
Controller Guidance System Fault Code # 17 “TPU Undefined ISR”
Cause
A critical autoguidance system fault has occurred. This error occurs when an uninitialized TPU module interrupt is
detected. The fault condition must be cleared to resume autoguidance operation.

This error occurs when an uninitialized TPU module interrupt is detected.


46
Controller Guidance System Fault Code # 18 “MIOS1 Undefined ISR”
Cause
A critical autoguidance system fault has occurred. This error occurs when an uninitialized MIOS1 module interrupt
is detected. The fault condition must be cleared to resume autoguidance operation.

This error occurs when an uninitialized MIOS1 module interrupt is detected.


47
Controller Guidance System Fault Code 19“QADC Undefined ISR”
Cause
A critical autoguidance system fault has occurred. This error occurs when an uninitialized QADC64 module
interrupt is detected. The fault condition must be cleared to resume autoguidance operation.

This error occurs when an uninitialized QADC64 module interrupt is detected.


48
Controller Guidance System Fault Code 21 “Uninit. App Assert”
Cause
A critical autoguidance system fault has occurred. This error occurs when an application assert is called with an
unregistered error type. The fault condition must be cleared to resume autoguidance operation.

This error occurs when an application assert is called with an unregistered error type.


49
Controller guidance System Fault Code 22 “Acc X Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the X-axis
accelerometer is sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume

This error occurs when the voltage from the X-axis accelerometer is sampled at a value greater than 4.99924 volts.


STEP 3 Drive the vehicle 6-8 mph for about 100 yards to orientate the Controller
A. If the fault code reappears, contact technical support.
B. If the Fault Code is a persistent problem, replace the controller. Possible causes include IMU sensor or
cable failure.
50
Controller Guidance System Fault Code 23 “Acc X Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the X-axis
accelerometer is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume

This error occurs when the voltage from the X-axis accelerometer is sampled at a value less than 0.00076 volts.


cable failure.
51
Controller Guidance System Fault Code 24 “Acc Y Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Y-axis

This error occurs when the voltage from the Y-axis accelerometer is sampled at a value greater than 4.99924 volts.


cable failure.
52
Controller Guidance System Fault Code 25 “Acc Y Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Y-axis

This error occurs when the voltage from the Y-axis accelerometer is sampled at a value less than 0.00076 volts.


cable failure.
53
Controller Guidance System Fault Code 26 “Acc Z Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Z-axis

This error occurs when the voltage from the Z-axis accelerometer is sampled at a value greater than 4.99924 volts.


cable failure.
54
Controller Guidance System Fault Code 27 “Acc Z Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Z-axis

This error occurs when the voltage from the Z-axis accelerometer is sampled at a value less than 0.00076 volts.


cable failure.
55
Controller Guidance System Fault Code 28 “Gyro X Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the X-axis gyro is
sampled at a value greater than 4.99924 volts. The fault condition must be cleared to resume autoguidance
operation.

This error occurs when the voltage from the X-axis gyro is sampled at a value greater than 4.99924 volts.


STEP 3 Drive the vehicle 6-8 mph for about 100 yards to orientate the Controller gyro.
cable failure.
56
Controller Guidance System Fault Code 29 “Gyro X Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the X-axis gyro is
sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume autoguidance operation.

This error occurs when the voltage from the X-axis gyro is sampled at a value less than 0.00076 volts.


cable failure.
57
Controller Guidance System Fault Code 30 “Gyro Y Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Y-axis gyro is
operation.

This error occurs when the voltage from the Y-axis gyro is sampled at a value greater than 4.99924 volts.


cable failure.
58
Controller Guidance System Fault Code 31 “Gyro Y Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Y-axis gyro is

This error occurs when the voltage from the Y-axis gyro is sampled at a value less than 0.00076 volts.


cable failure.
59
Controller Guidance System Fault Code 32 “Gyro Z Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Z-axis gyro is
operation.

This error occurs when the voltage from the Z-axis gyro is sampled at a value greater than 4.99924 volts.


cable failure.
60
Controller Guidance System Fault Code 33 “Gyro Z Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the Z-axis gyro is

This error occurs when the voltage from the Z-axis gyro is sampled at a value less than 0.00076 volts.


cable failure.
61
Controller Guidance System Fault Code 34 “Heater Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the IMU thermistor is
sampled at a value greater than 4.99924 volts. The fault condition must be explicitly cleared to resume

This error occurs when the voltage from the IMU thermistor is sampled at a value greater than 4.99924 volts.


62
Controller Guidance System Fault Code 35 “Heater Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the IMU thermistor is

This error occurs when the voltage from the IMU thermistor is sampled at a value less than 0.00076 volts.


63
Controller Guidance System Fault Code 36 “VRef Overvoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the IMU precision
voltage reference is sampled at a value greater than 4.99924 volts. The fault condition must be explicitly cleared to

This error occurs when the voltage from the IMU precision voltage reference is sampled at a value greater than
4.99924 volts.


D. If the Fault Code is a continuous problem, contact technical support. May need to replace the controller.
Possible causes include IMU sensor or cable failure.
64
Controller Guidance System Fault Code # 37 “VRef Undervoltage”
Cause
A critical autoguidance system fault has occurred. This error occurs when the voltage from the IMU precision
voltage reference is sampled at a value less than 0.00076 volts. The fault condition must be cleared to resume

This error occurs when the voltage from the IMU precision voltage reference is sampled at a value less than
0.00076 volts.


D. If the Fault Code is a continuous problem, contact technical support. May need to replace the controller.
Possible causes include IMU sensor or cable failure.
65
Controller Guidance System Fault Code 39 “Steering Overvolt”
Hydraulic Cylinder Steering Sensor
Cause
System Fault Detected. This error occurs when the voltage from the steering sensor is sampled at a value greater
than 4.85 volts. The fault condition must be cleared to resume autoguidance operation. Also check steering sensor
connection and operation.

The VT Display has a system status bar on the bottom center of the main screen. If the system is operational, a
person should see a message “System Ready”. If the system is not working correctly due to a navigation controller
system fault, a “System Fault Detected” message should appear.
This error occurs when the voltage from the steering sensor is sampled at a value greater than 4.85 volts.
NOTE: If this is a very intermittent problem, use the VT Display to clear the controller fault and continue to operate.

A. On the Virtual Terminal check the fault detail screen.

A. On the virtual terminal check the software version screen.
STEP 3 Check the integrity of the steering sensor harness coming from the end of the right hydraulic
cylinder.
A. On the VT Display, check the Steering Sensor Calibration setting.
B. From the main menu, select “Setup”, select “Vehicle”, select “Edit”, and select “Steer Sensor”.
C. Observe the sensor volts. It should read close to 2.5 volts at the center position. Center position is with
the front tires or tractor pointing forward in a straight line.
D. Perform the Steering Sensor Calibration Test. Observe the voltage range left – center – right. Normal
voltage range is a +/- 1.25 –1.75 volts from the center value.
E. Also observe the smoothness of the voltage reading from the steering sensor. If the voltage readings from
the steering sensor are erratic, make sure there is no air in the hydraulic lines.
F. Bleed the hydraulic cylinder. Recalibrate the steering sensor.
G. If the Fault Code is a persistent problem, contact technical support group.
66
Controller Guidance System Fault Code 40 “Steering Overvolt”
Steering Sensor
Cause
System Fault Detected. This error occurs when the voltage from the steering sensor is sampled at a value greater
than 4.85 volts. The fault condition must be cleared to resume autoguidance operation. Also check steering
sensor connection and operation.

This error occurs when the voltage from the steering sensor is sampled at a value greater than 4.85 volts.


STEP 3 Check the connection and integrity of the steering sensor harness.
A. On the Display, check the Steering Sensor Calibration setting.
C. Observe the sensor volts. It should read close to 2.5 volts at the center position. Center position is with the
front tires or tractor pointing forward in a straight line.
the steering sensor are erratic replace the steering sensor.
F. Perform the Steering Sensor Calibration Test on the new steering sensor.
G. If the Fault Code is a persistent problem, contact technical support.
67
Controller Guidance System Fault Code 40 “Steering Undervolt”
Steering Sensor
Cause
System Fault Detected. This error occurs when the voltage from the steering sensor is sampled at a value less than
0.15 volts. The fault condition must be cleared to resume autoguidance operation. Also check steering sensor

This error occurs when the voltage from the steering sensor is sampled at a value less than 0.15 volts.


STEP 3 Check the connection and integrity of the steering sensor harness.
the steering sensor are erratic replace the steering sensor. The steering sensor is located in left side
kingpin.
F. Perform the Steering Sensor Calibration Test on the new steering sensor.
68
Controller Guidance System Fault Code # 40 “Steering Undervolt”
Hydraulic Cylinder Steering Sensor
Cause
System Fault Detected. This error occurs when the voltage from the steering sensor is sampled at a value less than
0.15 volts. The fault condition must be cleared to resume autoguidance operation. Also check steering sensor

This error occurs when the voltage from the steering sensor is sampled at a value less than 0.15 volts.


STEP 3 Check the integrity of the steering sensor harness coming from the end of the right hydraulic
cylinder.
the steering sensor are erratic, make sure there is no air in the hydraulic lines.
F. Bleed the hydraulic cylinder and recalibrate the steering sensor.
69
Controller Guidance System Fault Code # 41 “Man Ovrd Overvolt”
Hydraulic Steering Valve/Manifold
Cause
System Fault Detected. This error occurs when the voltage from the manual override sensor is sampled at a value
greater than 4.5 volts. The fault condition must be cleared to resume autoguidance operation. Also check Hydraulic
Pressure Transducer.

This error occurs when the voltage from the manual override sensor is sampled at a value greater than 4.5 volts.


STEP 3 Check the connection and integrity of the wire harness to the steering valve and hydraulic
pressure transducer.
STEP 4 Determine the voltage range and response of the Hydraulic Pressure Transducer.
A. Use the Electronic Service Tool to access Autopilot Toolbox software.
B. Select “Edit Setup”, Select “Diagnostics” tab, Highlight “Manual Override” and press “Edit.”
C. Observe the “State” & “Raw” voltage from the Hydraulic Pressure Transducer. Turn the steering in either
direction and observe the info. Once you touch the steering wheel, the system should change from
“Inactive” to “Active” status. Thus indicating an operator input from the steering wheel. Also the voltage
should spike and then level out to the previous “Inactive” reading.
D. Replace Hydraulic Pressure Transducer if there is no response, or an erratic response. Possible cause
pressure transducer failure.
E. If the Fault Code is a persistent problem, contact technical support.
70
Controller Guidance System Fault Code 42 “Man Ovrd Undervolt”
Hydraulic Steering Valve/Manifold
Cause
System Fault Detected. This error occurs when the voltage from the manual override sensor is sampled at a value
less than 0.3 volts. The fault condition must be cleared to resume autoguidance operation. Also check Hydraulic
Pressure Transducer.

This error occurs when the voltage from the manual override sensor is sampled at a value less than 0.3 volts.


STEP 3 Check the connection and integrity of the wire harness to the steering valve and hydraulic
pressure transducer.
STEP 4 Determine the voltage range and response of the Hydraulic Pressure Transducer.
A. Use the Electronic Service Tool to access Autopilot Toolbox software.
B. Select “Edit Setup”, Select “Diagnostics” tab, Highlight “Manual Override” and press “Edit.”
C. Observe the “State” & “Raw” voltage from the Hydraulic Pressure Transducer. Turn the steering in either
direction and observe the info. Once you touch the steering wheel, the system should change from
“Inactive” to “Active” status. Thus indicating an operator input from the steering wheel. Also the voltage
should spike and then level out to the previous “Inactive” reading.
D. Replace Hydraulic Pressure Transducer if there is no response, or an erratic response. Possible cause
pressure transducer failure.
71
Controller Guidance Fault Code 43 “Gear Lev Overvolt”
FNRP Input Status, Gear Lever Status
Cause
System Fault Detected. This error occurs when the voltage from the gear level sensor is sampled at a value greater
than 4.952 volts. The fault condition must be cleared to resume autoguidance operation. Clear controller guidance
faults and check Gear Lever Status within Autopilot Toolbox.

This error occurs when the voltage from the gear level sensor is sampled at a value greater than 4.952 volts.


STEP 3 Check the wire connections and integrity of the wire harness. Also check the integrity of the
gear lever sensor.
STEP 4 Use the Autopilot Toolbox software to determine the Gear Lever sensor response.
A. Operate the vehicle in a safe location.
B. Use the Electronic Service Tool to access Autopilot Toolbox software.
C. Select “Edit Setup”, Select “Diagnostics” tab, Highlight “Gear Lever Indication” and press “Edit.”
D. Observe the “State” status upon changing from park to forward gear and park to reverse gear. Sensor
response should indicate the correct directional change.
72
Controller Guidance Fault Code 44 “Gear Lev Undervolt”
FNRP Input Status, Gear Lever Status
Cause
System Fault Detected. This error occurs when the voltage from the gear level sensor is sampled at a value less
than 0.15 volts. The fault condition must be cleared to resume autoguidance operation. Clear controller guidance
faults and check Gear Lever Status within Autopilot Toolbox.

This error occurs when the voltage from the gear level sensor is sampled at a value less than 0.15 volts.


STEP 3 Check the wire connections and integrity of the wire harness. Also check the integrity of the
gear lever sensor.
STEP 4 Use the Autopilot Toolbox software to determine the Gear Lever sensor response.
A. Operate the vehicle in a safe location.
B. Use the Electronic Service Tool to access Autopilot Toolbox software.
C. Select “Edit Setup”, Select “Diagnostics” tab, Highlight “Gear Lever Indication” and press “Edit.”
D. Observe the “State” status upon changing from park to forward gear and park to reverse gear. Sensor
response should indicate the correct directional change.
73
Controller Guidance System Fault Code 46 “Valve Coil Short”
Steering Valve/Manifold, Steering Hydraulics
Cause
System Fault Detected. This error occurs when hardware over-current detection indicates a fault. The fault
condition must be cleared to resume autoguidance operation. Check for damaged Steering Valve Cable Harness or
Steering Valve Coil failure.

This error occurs when hardware over-current detection indicates a fault.


STEP 3 Check the integrity of the steering valve cable harness.

A. Also check the integrity of the Steering Valve Coils and cable connections.
B. If the Fault Code is a persistent problem, contact technical support.
74
Controller Guidance System Fault Code 47 “Valve Coil Imax”
Steering Valve/Manifold, Steering Hydraulics
Cause
System Fault Detected. This error occurs when hardware over-current detection indicates a fault. The fault
condition must be cleared to resume autoguidance operation. Check for damaged Steering Valve Cable Harness or
Steering Valve Coil failure.

This error occurs when hardware over-current detection indicates a fault.


STEP 4 Check the integrity of the Steering Valve Coils and cable connections.
A. If the Fault Code is a persistent problem, contact technical support.
75
Controller Guidance System Fault Code 48 “MOSFET Short”
Steering Valve/Manifold, Steering Hydraulics, Electro-Hydraulic Solenoids/

Coils
Cause
System Fault Detected. This error occurs when the sum of the sampled current through the electro-hydraulic
solenoids is greater than 3.0 Amps. The fault condition must be cleared to resume autoguidance operation. Check
for damaged Steering Valve Cable Harness or Steering Valve Coil failure.

This error occurs when the sum of the sampled current through the electro-hydraulic solenoids is greater than 3.0
Amps.


76
Controller Guidance System Fault Code 49 “Coil Short to GND”

Coils
Cause
solenoids falls below the expected minimum for automatic mode operation. The minimum value for Front steer
vehicles is 0.12 Amps, Articulated steer vehicles 0.035 Amps. The fault condition must be cleared to resume
autoguidance operation. Check for damaged Steering Valve Cable Harness or Steering Valve Coil failure.

This error occurs when the sum of the sampled current through the electro-hydraulic solenoids falls below the
expected minimum for automatic mode operation. The minimum value for Front steer vehicles is 0.12 Amps,
Articulated steer vehicles 0.035 Amps.


STEP 4 Also check the integrity of the Steering Valve Coils and cable connections. Check for possible
steering valve failure.
STEP 5 Check for an incorrect valve installed for vehicle selected. Confirm correct steering valve and
manifold.
77
Controller Guidance System Fault Code 50 “Coil Shorted”

Coils
Cause
System Fault Detected. This error occurs when a sampled current through one of the electro-hydraulic solenoids is
greater than 5.0 Amps. The fault condition must be cleared to resume autoguidance operation. Check for damaged
Steering Valve Cable Harness or Steering Valve Coil failure.

This error occurs when a sampled current through one of the electro-hydraulic solenoids is greater than 5.0 Amps.


STEP 3 Check the integrity of the steering valve cable harness and steering valve coils.
78
Controller Guidance System Fault Code 54 “SafeMCU Prog. Error”
Cause
System Fault Detected. This error occurs when a failure in the Safety MCU programming process occurs. The fault
condition must be cleared to resume autoguidance operation.

This error occurs when a failure in the Safety MCU programming process occurs.


STEP 3 Update controller firmware if an update is available.

A. Utilize the Electronic Service Tool to access Autopilot Toolbox Software to reload controller firmware.
B. If the Fault Code is a persistent problem, contact technical support. Possible controller guidance hardware
failure.
79
Controller Guidance System Fault Code 55 “SafeMCU No Stack”
Cause
System Fault Detected. This error occurs when a failure in the Safety MCU reports that it is out of stack space. The
fault condition must be cleared to resume autoguidance operation.

This error occurs when a failure in the Safety MCU reports that it is out of stack space.



failure.
80
Controller Guidance System Fault Code 56 “SafeMCU Msg Timeout”
Cause
System Fault Detected. This error occurs when the safety MCU reports that the main MCU communication has had
a timeout. The fault condition must be cleared to resume autoguidance operation.

This error occurs when the safety MCU reports that the main MCU communication has had a timeout.



failure.
81
Controller Guidance System Fault Code 58 “Angle Out of Bounds”
Steering Sensor
Cause
System Fault Detected. This error occurs when the safety MCU reports that the steering angle sensor indicates
that the wheel position exceeds the specified maximum angle. The fault condition must be cleared to resume

This error occurs when the safety MCU reports that the steering angle sensor indicates that the wheel position
exceeds the specified maximum angle.



failure.
82
4050-83
Controller Guidance System Fault Code 58 “Steering Unsafe”
Steering Sensor, Steering Hydraulic Valve
Cause
System Fault Detected. This error occurs when the safety MCU reports some condition, which is unsafe for
automatic operation. The fault condition must be cleared to resume autoguidance operation.

This error occurs when the safety MCU reports some condition, which is unsafe for automatic operation.



failure.
Controller Guidance System Fault Code 59 “MCU2 Vel. Unsafe”
Cause
System Fault Detected. This error occurs when the safety MCU reports that the wheel speed sensor frequency is
too low for automatic operation. The fault condition must be cleared to resume autoguidance operation.

This error occurs when the safety MCU reports that the wheel speed sensor frequency is too low for automatic
operation.



STEP 4 Consult vehicle service manual for proper transmission speed sensor adjustment or specs.
A. If the Fault Code is a persistent problem, contact technical support. Possible controller guidance hardware
failure.
84
Controller Guidance System Fault Code # 70 “Test Build Expired”
Cause
System Fault Detected. This error occurs when the expiration date of the currently loaded controller firmware has
been reached. The fault will persist, preventing automatic mode. Upgrade controller guidance to the latest released
firmware.

This error occurs when the expiration date of the currently loaded controller firmware has been reached.


STEP 3 Ag252 gps receiver is generating false time.

A. Reinitialize or cycle power on the gps receiver. Might need to restore receiver to factory defaults by
clearing BB Ram by using Ag Remote v2.xx software.
failure.
85
Controller Guidance System Fault Code 71 “Top FET Sense Err”
Hydraulics Solenoids/Coils
Cause
solenoids, is larger than the expected minimum for manual mode operation. The threshold for Front steer vehicles
is 0.12 Amps, Articulated steer vehicles 0.035 Amps. Check integrity of cable harness and steering valve coils.

This error occurs when the sum of the sampled current through the electro-hydraulic solenoids, is larger than the
expected minimum for manual mode operation. The threshold for Front steer vehicles is 0.12 Amps, Articulated
steer vehicles 0.035 Amps.



STEP 6 Check for possible steering valve failure.
STEP 7 If the Fault Code is a persistent problem, contact technical support.

A. Possible controller guidance hardware failure.
86
Controller Guidance System Fault Code 76 “VT Assert Failure”
Display, CAN Bus
Cause
System Fault Detected. This is a firmware error. It occurs when a fault is detected in the display object pool
management section. The fault condition must be cleared to resume autoguidance operation. Update controller
firmware to latest revision.

This is a firmware error. It occurs when a fault is detected in the display object pool management section.



STEP 4 Check the integrity of the cable harness (termination/noise).
87
Controller Guidance System Fault Code 77 “VT Object Pool Buffer
Overflow”
Display, CAN Bus
Cause
System Fault Detected. This is a firmware error. It occurs when the object pool message buffer overflows. The
object pool buffers message during working set upload, prior to first activation of working set, and while display is
changing data masks. The fault condition must be cleared to resume autoguidance operation. Update controller
guidance and display firmware to latest revisions.

This is a firmware error. It occurs when the object pool message buffer overflows.



STEP 4 Utilize the Electronic Service Tool to update the display firmware (CAN Bus).
88
Controller Guidance System Fault Code 78 “VT Comms Error”
Display, CAN Bus
Cause
System Fault Detected. This error occurs when a communication error is detected between the controller guidance
and Display. The fault condition must be cleared to resume autoguidance operation. Update controller guidance
and display firmware to latest revisions. Remove any recently added CAN bus ECUs (implements).

This error occurs when a communication error is detected between the controller guidance and Display.



STEP 6 Remove any recently added CAN bus ECUs (implements).
89
Controller Guidance System Fault Code 79 “VT Watchdog Timeout”
Display, CAN Bus
Cause
System Fault Detected. This error occurs when the Display Manager detects a timeout on a command sent to the
display or on a wait for a message from the Display. The fault condition must be cleared to resume autoguidance
operation. Update controller guidance and display firmware to latest revisions. Remove any recently added CAN
bus ECUs (implements).

This error occurs when the Display Manager detects a timeout on a command sent to the display or on a wait for a
message from the Display.



A. Possible display firmware defect.
90
Controller Guidance System Fault Code 80 “PP Task Assert Failure”
Cause
System Fault Detected. This is a firmware error. It occurs when a fault is detected in the Path Planning task section.
The fault condition must be cleared to resume autoguidance operation.

This is a firmware error. It occurs when a fault is detected in the Path Planning task section.



STEP 4 Data Failure (job or gps receiver)

A. Cycle power on Ag252 gps receiver.
B. Reload current job.
91
Controller Guidance System Fault Code # 81 “CAN-VT Assert Failure”
Display, CAN Bus
Cause
System Fault Detected. This is a firmware error. It occurs when a fault is detected in the display CAN layer section.
The fault condition must be cleared to resume autoguidance operation. Update controller guidance and display
firmware to latest revisions. Remove any recently added CAN bus ECUs (implements).

This is a firmware error. It occurs when a fault is detected in the display CAN layer section.



92
Controller Guidance System Fault Code 81 “CN Task Assert Failure”
CAN Bus
Cause
System Fault Detected. This is a firmware error. It occurs when a fault is detected in the CAN task section. The
fault condition must be cleared to resume autoguidance operation. Update controller guidance firmware to latest
revisions. Remove any recently added CAN bus ECUs (implements) and check integrity of cable harness.

This is a firmware error. It occurs when a fault is detected in the CAN task section.



93
93 © 2004 CNH America LLC

Repair Manual New Holland Intellisteer™ Auto Steering System Troubleshooting

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NEW HOLLAND REPAIR

SYMPTOM BASED FAULTS - NO FAULT CODES ................................................................................................ 3

Expected pass-to-pass accuracy when utilizing Omnistar HP is within 4 inches.

Ag252 Receiver Guidance

STEP 1 Downloading the software

STEP 2 Installing the software

STEP 3 Downloading an ephemeris file

STEP 4 To download a current ephemeris:

STEP 7 Set up a station or reference location:

Ag252 Receiver Guidance

Remote Data Logger

Remote Data Logger

Ag252 Receiver Guidance

Ag252 Receiver Guidance, Omnistar HP Differential Signal

Ag252 Receiver Guidance, Omnistar HP Differential Signal

Ag252 Receiver Guidance, WAAS

Ag252 Receiver Guidance, Ag Remote v2.xx Software

Ag252 Receiver Guidance, Ag Remote v2.xx Software

Once you have connected to the receiver:

Ag252 Receiver Guidance, Ag Remote v2.xx Software

Once you have connected to the receiver:

Ag252 Receiver Guidance, RTK Radio, Commset SoftwareCause

Ag252 Receiver Guidance, RTK Radio, Commset Software

RTK Radio, Base Station Receiver, Ag252 Receiver

RTK Radio, Base Station Receiver, Ag252 Receiver

Base Station Receiver

Ag252 Receiver Guidance

LED sequences for WAAS or Omnistar VBS differential positioning.

Ag252 Receiver Guidance

LED sequences for Omnistar HP differential positioning.

Ag252 Receiver Guidance

LED sequences for RTK positioning.

- Rapid directional changes.

- Rolling forward when in reverse gear.

- Rolling backwards when in a forward gear.

Steering Valve, Hydraulics

3. To verify proper installation – from the main menu on the Display:

Ag252 Receiver, Controller Guidance

Possible failure modes:

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

Possible failure modes:

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

Possible failure modes:

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

Possible failure modes:

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

Possible failure modes:

STEP 1 Clear the fault code.

Possible failure modes:

STEP 1 Clear the fault code.

STEP 2 Check version of controller firmware.

Possible failure modes:

This error occurs when a serial port initialization fails.